螺旋驱动管道机器人设计【毕业论文+CAD图纸全套】.doc

螺旋驱动管道机器人的结构设计 摘 要 本设计的主要内容是螺旋管道机器人的组成及工作原理,对机器人的机械结构进行了设计,并且分析了其在弯管内的几何与运动约束条件。新型的旋转体和保持体结构的设计,使此管道机器人具有较大的牵引力和移动速度。机器人采用节段式设计,使得其具有强大的功能扩展性。在制冷、化工、核电站等领域,采用常规方法对小型管道检测存在中毒、辐射等危险,且费时费力。因此,管道机器人在细小管道检测方面具有良好的应用前景,并且其机械结构具有较高的实用价值和学术意义。螺旋轮式管道机器人特点轮式行走具有结构简单、行走连续平稳 Abstract The main content of this design is the composition and working principle of the spiral propulsion pipe robot. The mechanical structure of the robot is designed, and the geometry and motion constraints of the robot are analyzed. The design of a new type of rotating body and keeping body structure makes the pipe robot have great traction force and moving speed. The robot adopts the segmental design, which makes it have a powerful function. In refrigeration, chemical industry, nuclear power plants and other fields, using conventional methods to detect small pipeline poisoning, radiation and other hazards, and time and effort. Therefore, the small pipeline robot has good application prospects in small pipeline detection, and its mechanical structure has high practical value and academic significance. Characteristics of the spiral wheel type pipeline robot: the characteristics of simple structure and stable running.Decided to 3 RRR spherical parallel mechanism geometry and movement characteristics of parameters for the four angles. How the four institutions within the scope of design parameters, reasonable choice makes the operator at the end of the working space is greater than or equal to the design index, and try to make the agency dexterity and simplified kinematics calculation is an important issue. This article is based on the designed work space launch institutions parameters selection criteria, determine the four angles of the 3-dof spherical parallel mechanism parameters, and good balance the other features of the organization. And using the parallel mechanism of three series branch work space intersection method of 3-dof spherical parallel mechanism of working space is greater than the targe